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Revert "calculate correct path offset for TICI (#544)" #549

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Revert "calculate correct path offset for TICI (#544)" #549

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28 changes: 19 additions & 9 deletions selfdrive/controls/lib/lane_planner.py
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Original file line number Diff line number Diff line change
Expand Up @@ -10,14 +10,22 @@


TRAJECTORY_SIZE = 33
# model path is 0.06 m left of car center
MODEL_PATH_OFFSET = 0.06
# camera offset is meters from center car to camera
if EON:
CAMERA_OFFSET = 0.06
STANDARD_CAMERA_OFFSET = 0.06 # do NOT change this. edit with opEdit
STANDARD_PATH_OFFSET = 0.0 # do NOT change this. edit with opEdit
# CAMERA_OFFSET = 0.06
# PATH_OFFSET = 0.0
elif TICI:
CAMERA_OFFSET = -0.04
STANDARD_CAMERA_OFFSET = -0.04 # do NOT change this. edit with opEdit
STANDARD_PATH_OFFSET = -0.04 # do NOT change this. edit with opEdit
# CAMERA_OFFSET = -0.04
# PATH_OFFSET = -0.04
else:
CAMERA_OFFSET = 0.0
STANDARD_CAMERA_OFFSET = 0.0 # do NOT change this. edit with opEdit
STANDARD_PATH_OFFSET = 0.0 # do NOT change this. edit with opEdit
# CAMERA_OFFSET = 0.0
# PATH_OFFSET = 0.0


class LanePlanner:
Expand All @@ -42,13 +50,15 @@ def __init__(self, wide_camera=False):
self.l_lane_change_prob = 0.
self.r_lane_change_prob = 0.

self.camera_offset = -CAMERA_OFFSET if wide_camera else CAMERA_OFFSET
self.path_offset = self.camera_offset - MODEL_PATH_OFFSET
# self.camera_offset = -STANDARD_CAMERA_OFFSET if wide_camera else STANDARD_CAMERA_OFFSET
if TICI:
self.path_offset = -STANDARD_PATH_OFFSET if wide_camera else STANDARD_PATH_OFFSET

def parse_model(self, md):
if len(md.laneLines) == 4 and len(md.laneLines[0].t) == TRAJECTORY_SIZE:
self.camera_offset = clip(self.op_params.get('camera_offset'), -0.5, 0.5) # update camera offset
self.path_offset = self.camera_offset - MODEL_PATH_OFFSET
self.camera_offset = clip(self.op_params.get('camera_offset'), -0.3, 0.3) # update camera offset
if not TICI: # TODO: make sure this is correct
self.path_offset = self.camera_offset - STANDARD_CAMERA_OFFSET + STANDARD_PATH_OFFSET # offset path

self.ll_t = (np.array(md.laneLines[1].t) + np.array(md.laneLines[2].t))/2
# left and right ll x is the same
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